This paper proposes a novel integrated look-ahead dynamic (ILD) interpolation algorithm which integrates a look-ahead methodology with servo dynamic error equations. The look-ahead utilizes the curvature and centripetal acceleration information to detect the points of sharp corners. According to the information of sharp corner, the Non-Uniform Rational B-spline (NURBS) curve is divided into small segments. Each segment is planned by satisfying the jerk-limit constraints. The feedrate is further adjusted automatically by utilizing a servo dynamic error equation. The unique feature of the proposed algorithm is that both geometric chord error and servo dynamic error are included in planning trajectories. Simulation and experiments are performed to validate the proposed algorithm. It is shown that the ILD approach can improve the contour accuracy significantly as compared to other techniques.
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